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<p>Structure holding the matrices manipulated by the unscented kalman filter in the vectorial case, for Parameter estimation.  
 <a href="structukf_1_1parameter_1_1ukf__state.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a98ac53f44b5741a055a1fb489e141340"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a98ac53f44b5741a055a1fb489e141340">Kk</a></td></tr>
<tr class="memdesc:a98ac53f44b5741a055a1fb489e141340"><td class="mdescLeft">&#160;</td><td class="mdescRight">Kalman gain, a matrix of size <img class="formulaInl" alt="$n \times no$" src="form_31.png"/>.  <a href="#a98ac53f44b5741a055a1fb489e141340">More...</a><br/></td></tr>
<tr class="separator:a98ac53f44b5741a055a1fb489e141340"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37add3babc9f20fe09b62e93a854ff46"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a37add3babc9f20fe09b62e93a854ff46">Kk_T</a></td></tr>
<tr class="memdesc:a37add3babc9f20fe09b62e93a854ff46"><td class="mdescLeft">&#160;</td><td class="mdescRight">The tranposed Kalman gain, a vector of size <img class="formulaInl" alt="$no \times n$" src="form_32.png"/>.  <a href="#a37add3babc9f20fe09b62e93a854ff46">More...</a><br/></td></tr>
<tr class="separator:a37add3babc9f20fe09b62e93a854ff46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7dd701d6a9f5e5a7bcf15822ddbe633d"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a7dd701d6a9f5e5a7bcf15822ddbe633d">Pwdk</a></td></tr>
<tr class="memdesc:a7dd701d6a9f5e5a7bcf15822ddbe633d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of <img class="formulaInl" alt="$(w, d)$" src="form_21.png"/>: <img class="formulaInl" alt="$P_{w_k d_k}$" src="form_22.png"/>, of size <img class="formulaInl" alt="$n \times no$" src="form_31.png"/>.  <a href="#a7dd701d6a9f5e5a7bcf15822ddbe633d">More...</a><br/></td></tr>
<tr class="separator:a7dd701d6a9f5e5a7bcf15822ddbe633d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a90bcfea6b544baf8f4b61b03cbb47e06"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a90bcfea6b544baf8f4b61b03cbb47e06">Pddk</a></td></tr>
<tr class="memdesc:a90bcfea6b544baf8f4b61b03cbb47e06"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the output, a matrix of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>.  <a href="#a90bcfea6b544baf8f4b61b03cbb47e06">More...</a><br/></td></tr>
<tr class="separator:a90bcfea6b544baf8f4b61b03cbb47e06"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf733b81f5d34fa210d514c2fe0d321a"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#aaf733b81f5d34fa210d514c2fe0d321a">Peek</a></td></tr>
<tr class="memdesc:aaf733b81f5d34fa210d514c2fe0d321a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the observation noise, of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>.  <a href="#aaf733b81f5d34fa210d514c2fe0d321a">More...</a><br/></td></tr>
<tr class="separator:aaf733b81f5d34fa210d514c2fe0d321a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1cabc1bed1eaadbab395a10c0dba6072"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a1cabc1bed1eaadbab395a10c0dba6072">Prrk</a></td></tr>
<tr class="memdesc:a1cabc1bed1eaadbab395a10c0dba6072"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance of the evolution noise, of size <img class="formulaInl" alt="$ n \times n $" src="form_34.png"/>.  <a href="#a1cabc1bed1eaadbab395a10c0dba6072">More...</a><br/></td></tr>
<tr class="separator:a1cabc1bed1eaadbab395a10c0dba6072"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff3014ff4ffec72ecff69f533540e88a"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#aff3014ff4ffec72ecff69f533540e88a">w</a></td></tr>
<tr class="memdesc:aff3014ff4ffec72ecff69f533540e88a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameter vector, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#aff3014ff4ffec72ecff69f533540e88a">More...</a><br/></td></tr>
<tr class="separator:aff3014ff4ffec72ecff69f533540e88a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aec9c1db99ea8bb204d06a3e506f4d3b0"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#aec9c1db99ea8bb204d06a3e506f4d3b0">wk</a></td></tr>
<tr class="memdesc:aec9c1db99ea8bb204d06a3e506f4d3b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector holding one sigma point, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#aec9c1db99ea8bb204d06a3e506f4d3b0">More...</a><br/></td></tr>
<tr class="separator:aec9c1db99ea8bb204d06a3e506f4d3b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03fdbac49bc406308eb9ccfbbd104205"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a03fdbac49bc406308eb9ccfbbd104205">Pk</a></td></tr>
<tr class="memdesc:a03fdbac49bc406308eb9ccfbbd104205"><td class="mdescLeft">&#160;</td><td class="mdescRight">Covariance matrix of the parameters, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>.  <a href="#a03fdbac49bc406308eb9ccfbbd104205">More...</a><br/></td></tr>
<tr class="separator:a03fdbac49bc406308eb9ccfbbd104205"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d6708942b03aec45c04b2dd83ca2db2"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a9d6708942b03aec45c04b2dd83ca2db2">Sk</a></td></tr>
<tr class="memdesc:a9d6708942b03aec45c04b2dd83ca2db2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Matrix holding the Cholesky decomposition of <img class="formulaInl" alt="$P_k$" src="form_24.png"/>, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>.  <a href="#a9d6708942b03aec45c04b2dd83ca2db2">More...</a><br/></td></tr>
<tr class="separator:a9d6708942b03aec45c04b2dd83ca2db2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97cdef926065762a0e461fb815f6f855"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a97cdef926065762a0e461fb815f6f855">cSk</a></td></tr>
<tr class="memdesc:a97cdef926065762a0e461fb815f6f855"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector holding one column of Sk, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>.  <a href="#a97cdef926065762a0e461fb815f6f855">More...</a><br/></td></tr>
<tr class="separator:a97cdef926065762a0e461fb815f6f855"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9216214d4e9b7adb16104188dfea519e"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a9216214d4e9b7adb16104188dfea519e">wm</a></td></tr>
<tr class="memdesc:a9216214d4e9b7adb16104188dfea519e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Weights used to compute the mean of the sigma points' images.  <a href="#a9216214d4e9b7adb16104188dfea519e">More...</a><br/></td></tr>
<tr class="separator:a9216214d4e9b7adb16104188dfea519e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab996e4b1589b6f69eac3158eb0a6ed7"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#aab996e4b1589b6f69eac3158eb0a6ed7">wc</a></td></tr>
<tr class="memdesc:aab996e4b1589b6f69eac3158eb0a6ed7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Weights used to update the covariance matrices.  <a href="#aab996e4b1589b6f69eac3158eb0a6ed7">More...</a><br/></td></tr>
<tr class="separator:aab996e4b1589b6f69eac3158eb0a6ed7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbea39cf7668445558d213452364d355"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#afbea39cf7668445558d213452364d355">dk</a></td></tr>
<tr class="memdesc:afbea39cf7668445558d213452364d355"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix holding the image of the sigma points, of size <img class="formulaInl" alt="$ no \times nbSamples$" src="form_35.png"/>.  <a href="#afbea39cf7668445558d213452364d355">More...</a><br/></td></tr>
<tr class="separator:afbea39cf7668445558d213452364d355"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15aa1109521e57641b35e29fba5cb2c7"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a15aa1109521e57641b35e29fba5cb2c7">d_mean</a></td></tr>
<tr class="memdesc:a15aa1109521e57641b35e29fba5cb2c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector holding the mean of the sigma points image, of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>ŝ  <a href="#a15aa1109521e57641b35e29fba5cb2c7">More...</a><br/></td></tr>
<tr class="separator:a15aa1109521e57641b35e29fba5cb2c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6070bcca85799e03f1015e4e4416bf4e"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a6070bcca85799e03f1015e4e4416bf4e">ino_dk</a></td></tr>
<tr class="memdesc:a6070bcca85799e03f1015e4e4416bf4e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector holding the inovation, of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>ŝ  <a href="#a6070bcca85799e03f1015e4e4416bf4e">More...</a><br/></td></tr>
<tr class="separator:a6070bcca85799e03f1015e4e4416bf4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f121cb6700b18806b1174d0245217ad"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a3f121cb6700b18806b1174d0245217ad">sigmaPoints</a></td></tr>
<tr class="memdesc:a3f121cb6700b18806b1174d0245217ad"><td class="mdescLeft">&#160;</td><td class="mdescRight">Matrix holding the sigma points in the columns, of size <img class="formulaInl" alt="$(n,nbSamples)$" src="form_30.png"/>.  <a href="#a3f121cb6700b18806b1174d0245217ad">More...</a><br/></td></tr>
<tr class="separator:a3f121cb6700b18806b1174d0245217ad"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad608b7d6bb36e44feb556b9bfb3e8171"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#ad608b7d6bb36e44feb556b9bfb3e8171">vec_temp_n</a></td></tr>
<tr class="memdesc:ad608b7d6bb36e44feb556b9bfb3e8171"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector of size <img class="formulaInl" alt="$ n $" src="form_37.png"/>.  <a href="#ad608b7d6bb36e44feb556b9bfb3e8171">More...</a><br/></td></tr>
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<tr class="memitem:ac392ca5e3e847688c58bea5692f36bf8"><td class="memItemLeft" align="right" valign="top">gsl_vector *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#ac392ca5e3e847688c58bea5692f36bf8">vec_temp_output</a></td></tr>
<tr class="memdesc:ac392ca5e3e847688c58bea5692f36bf8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary vector of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>.  <a href="#ac392ca5e3e847688c58bea5692f36bf8">More...</a><br/></td></tr>
<tr class="separator:ac392ca5e3e847688c58bea5692f36bf8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6df918d0806e077630b0e1fcecc66b49"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a6df918d0806e077630b0e1fcecc66b49">mat_temp_n_1</a></td></tr>
<tr class="memdesc:a6df918d0806e077630b0e1fcecc66b49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ n \times 1 $" src="form_38.png"/>.  <a href="#a6df918d0806e077630b0e1fcecc66b49">More...</a><br/></td></tr>
<tr class="separator:a6df918d0806e077630b0e1fcecc66b49"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96808c42875c1b6c92f2214d6ce33e56"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a96808c42875c1b6c92f2214d6ce33e56">mat_temp_n_output</a></td></tr>
<tr class="memdesc:a96808c42875c1b6c92f2214d6ce33e56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ n \times no $" src="form_39.png"/>.  <a href="#a96808c42875c1b6c92f2214d6ce33e56">More...</a><br/></td></tr>
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<tr class="memitem:a67c22cfb376227075a089c8e93dc4e5e"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a67c22cfb376227075a089c8e93dc4e5e">mat_temp_output_n</a></td></tr>
<tr class="memdesc:a67c22cfb376227075a089c8e93dc4e5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ no \times n $" src="form_40.png"/>.  <a href="#a67c22cfb376227075a089c8e93dc4e5e">More...</a><br/></td></tr>
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<tr class="memitem:a445af0a738d5d099a7613e0deaec0c61"><td class="memItemLeft" align="right" valign="top">gsl_matrix *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structukf_1_1parameter_1_1ukf__state.html#a445af0a738d5d099a7613e0deaec0c61">mat_temp_1_output</a></td></tr>
<tr class="memdesc:a445af0a738d5d099a7613e0deaec0c61"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ 1 \times no $" src="form_41.png"/>.  <a href="#a445af0a738d5d099a7613e0deaec0c61">More...</a><br/></td></tr>
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<tr class="memdesc:aa4c34456f9e170a8ccd40bfd666bb9c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ no \times 1 $" src="form_42.png"/>.  <a href="#aa4c34456f9e170a8ccd40bfd666bb9c8">More...</a><br/></td></tr>
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<tr class="memdesc:a07386aed2dc626d883add4a2bda98de2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>.  <a href="#a07386aed2dc626d883add4a2bda98de2">More...</a><br/></td></tr>
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<tr class="memdesc:a11d6ee5527f1cdab2869ae23374b8b9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Temporary matrix of size <img class="formulaInl" alt="$ n \times n $" src="form_34.png"/>.  <a href="#a11d6ee5527f1cdab2869ae23374b8b9a">More...</a><br/></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Structure holding the matrices manipulated by the unscented kalman filter in the vectorial case, for Parameter estimation. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-004_8cc-example.html#_a1">example-004.cc</a>, and <a class="el" href="example-005_8cc-example.html#_a1">example-005.cc</a>.</dd>
</dl></div><h2 class="groupheader">Member Data Documentation</h2>
<a class="anchor" id="a97cdef926065762a0e461fb815f6f855"></a>
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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::cSk</td>
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<p>Vector holding one column of Sk, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>

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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::d_mean</td>
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<p>Vector holding the mean of the sigma points image, of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>ŝ </p>

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<a class="anchor" id="afbea39cf7668445558d213452364d355"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::dk</td>
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<p>Temporary matrix holding the image of the sigma points, of size <img class="formulaInl" alt="$ no \times nbSamples$" src="form_35.png"/>. </p>

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<a class="anchor" id="a6070bcca85799e03f1015e4e4416bf4e"></a>
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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::ino_dk</td>
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<p>Vector holding the inovation, of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>ŝ </p>

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</div>
<a class="anchor" id="a98ac53f44b5741a055a1fb489e141340"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Kk</td>
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<p>Kalman gain, a matrix of size <img class="formulaInl" alt="$n \times no$" src="form_31.png"/>. </p>

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<a class="anchor" id="a37add3babc9f20fe09b62e93a854ff46"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Kk_T</td>
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<p>The tranposed Kalman gain, a vector of size <img class="formulaInl" alt="$no \times n$" src="form_32.png"/>. </p>

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<a class="anchor" id="a445af0a738d5d099a7613e0deaec0c61"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_1_output</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ 1 \times no $" src="form_41.png"/>. </p>

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</div>
<a class="anchor" id="a6df918d0806e077630b0e1fcecc66b49"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_n_1</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ n \times 1 $" src="form_38.png"/>. </p>

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</div>
<a class="anchor" id="a11d6ee5527f1cdab2869ae23374b8b9a"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_n_n</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ n \times n $" src="form_34.png"/>. </p>

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</div>
<a class="anchor" id="a96808c42875c1b6c92f2214d6ce33e56"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_n_output</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ n \times no $" src="form_39.png"/>. </p>

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<a class="anchor" id="aa4c34456f9e170a8ccd40bfd666bb9c8"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_output_1</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ no \times 1 $" src="form_42.png"/>. </p>

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</div>
<a class="anchor" id="a67c22cfb376227075a089c8e93dc4e5e"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_output_n</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ no \times n $" src="form_40.png"/>. </p>

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<a class="anchor" id="a07386aed2dc626d883add4a2bda98de2"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::mat_temp_output_output</td>
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<p>Temporary matrix of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>. </p>

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<a class="anchor" id="a90bcfea6b544baf8f4b61b03cbb47e06"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Pddk</td>
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<p>Covariance of the output, a matrix of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>. </p>

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<a class="anchor" id="aaf733b81f5d34fa210d514c2fe0d321a"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Peek</td>
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<p>Covariance of the observation noise, of size <img class="formulaInl" alt="$ no \times no $" src="form_33.png"/>. </p>

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<a class="anchor" id="a03fdbac49bc406308eb9ccfbbd104205"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Pk</td>
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<p>Covariance matrix of the parameters, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>. </p>

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<a class="anchor" id="a1cabc1bed1eaadbab395a10c0dba6072"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Prrk</td>
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<p>Covariance of the evolution noise, of size <img class="formulaInl" alt="$ n \times n $" src="form_34.png"/>. </p>

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<a class="anchor" id="a7dd701d6a9f5e5a7bcf15822ddbe633d"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Pwdk</td>
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<p>Covariance of <img class="formulaInl" alt="$(w, d)$" src="form_21.png"/>: <img class="formulaInl" alt="$P_{w_k d_k}$" src="form_22.png"/>, of size <img class="formulaInl" alt="$n \times no$" src="form_31.png"/>. </p>

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<a class="anchor" id="a3f121cb6700b18806b1174d0245217ad"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::sigmaPoints</td>
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<p>Matrix holding the sigma points in the columns, of size <img class="formulaInl" alt="$(n,nbSamples)$" src="form_30.png"/>. </p>

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<a class="anchor" id="a9d6708942b03aec45c04b2dd83ca2db2"></a>
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          <td class="memname">gsl_matrix* ukf::parameter::ukf_state::Sk</td>
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<p>Matrix holding the Cholesky decomposition of <img class="formulaInl" alt="$P_k$" src="form_24.png"/>, of size <img class="formulaInl" alt="$(n,n)$" src="form_23.png"/>. </p>

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<a class="anchor" id="ad608b7d6bb36e44feb556b9bfb3e8171"></a>
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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::vec_temp_n</td>
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<p>Temporary vector of size <img class="formulaInl" alt="$ n $" src="form_37.png"/>. </p>

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<a class="anchor" id="ac392ca5e3e847688c58bea5692f36bf8"></a>
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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::vec_temp_output</td>
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<p>Temporary vector of size <img class="formulaInl" alt="$ no $" src="form_36.png"/>. </p>

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<a class="anchor" id="aff3014ff4ffec72ecff69f533540e88a"></a>
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          <td class="memname">gsl_vector* ukf::parameter::ukf_state::w</td>
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<p>Parameter vector, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="example-004_8cc-example.html#a13">example-004.cc</a>, and <a class="el" href="example-005_8cc-example.html#a13">example-005.cc</a>.</dd>
</dl>
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<a class="anchor" id="aab996e4b1589b6f69eac3158eb0a6ed7"></a>
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<p>Weights used to update the covariance matrices. </p>
<p><img class="formulaInl" alt="$wc_0 = \frac{\lambda}{n + \lambda} + (1 - \alpha^2 + \beta)$" src="form_27.png"/> <img class="formulaInl" alt="$wc_i = \frac{1}{2(n + \lambda)}$" src="form_28.png"/> </p>

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<a class="anchor" id="aec9c1db99ea8bb204d06a3e506f4d3b0"></a>
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<p>Temporary vector holding one sigma point, of size <img class="formulaInl" alt="$n$" src="form_18.png"/>. </p>

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<a class="anchor" id="a9216214d4e9b7adb16104188dfea519e"></a>
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<p>Weights used to compute the mean of the sigma points' images. </p>
<p><img class="formulaInl" alt="$wm_0 = \frac{\lambda}{n + \lambda}$" src="form_25.png"/> <img class="formulaInl" alt="$wm_i = \frac{1}{2(n + \lambda)}$" src="form_26.png"/> </p>

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<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/<a class="el" href="ukf__types_8h_source.html">ukf_types.h</a></li>
</ul>
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